I am using CS to develop non-game application, and I think it's great.
I have experience in Ogre. Ogre is only a graphics rendering system, so it cannot make VR apps directly, you will have to integrate lots of things yourself.
Talking about Irrilicht... They got a defect in design, coz their engine even don't support vertex buffer.
Crystal Space is best engine to me, it's powerful, easy to learn and use, and reliable.